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Add transmission_hw_interface to URe xacro and expose everywhere #528

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Add transmission_hw_interface to URe xacro and expose everywhere #528

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7 changes: 4 additions & 3 deletions ur_e_description/launch/ur10e_upload.launch
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<?xml version="1.0"?>
<launch>
<arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />

<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur10e_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur10e_joint_limited_robot.urdf.xacro'" />
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />

<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur10e_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur10e_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
</launch>
8 changes: 5 additions & 3 deletions ur_e_description/launch/ur3e_upload.launch
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<?xml version="1.0"?>
<launch>
<arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />

<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur3e_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur3e_joint_limited_robot.urdf.xacro'" />
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />


<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur3e_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur3e_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
</launch>
7 changes: 4 additions & 3 deletions ur_e_description/launch/ur5e_upload.launch
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<?xml version="1.0"?>
<launch>
<arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />

<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur5e_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur5e_joint_limited_robot.urdf.xacro'" />
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />

<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur5e_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur5e_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
</launch>
14 changes: 7 additions & 7 deletions ur_e_description/urdf/ur.transmission.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="ur_arm_transmission" params="prefix">
<xacro:macro name="ur_arm_transmission" params="prefix hw_interface">

<transmission name="${prefix}shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}shoulder_pan_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}shoulder_pan_motor">
<mechanicalReduction>1</mechanicalReduction>
Expand All @@ -16,7 +16,7 @@
<transmission name="${prefix}shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}shoulder_lift_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}shoulder_lift_motor">
<mechanicalReduction>1</mechanicalReduction>
Expand All @@ -26,7 +26,7 @@
<transmission name="${prefix}elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}elbow_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}elbow_motor">
<mechanicalReduction>1</mechanicalReduction>
Expand All @@ -36,7 +36,7 @@
<transmission name="${prefix}wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_1_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}wrist_1_motor">
<mechanicalReduction>1</mechanicalReduction>
Expand All @@ -46,7 +46,7 @@
<transmission name="${prefix}wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_2_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}wrist_2_motor">
<mechanicalReduction>1</mechanicalReduction>
Expand All @@ -56,7 +56,7 @@
<transmission name="${prefix}wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_3_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}wrist_3_motor">
<mechanicalReduction>1</mechanicalReduction>
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2 changes: 1 addition & 1 deletion ur_e_description/urdf/ur10e.urdf.xacro
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Expand Up @@ -339,7 +339,7 @@
</collision>
</link>

<xacro:ur_arm_transmission prefix="${prefix}" />
<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}"/>
<xacro:ur_arm_gazebo prefix="${prefix}" />

<!-- ROS base_link to UR 'Base' Coordinates transform -->
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3 changes: 3 additions & 0 deletions ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro
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Expand Up @@ -2,6 +2,8 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro"
name="ur10e" >

<xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>

<!-- common stuff -->
<xacro:include filename="$(find ur_e_description)/urdf/common.gazebo.xacro" />

Expand All @@ -16,6 +18,7 @@
wrist_1_lower_limit="${-pi}" wrist_1_upper_limit="${pi}"
wrist_2_lower_limit="${-pi}" wrist_2_upper_limit="${pi}"
wrist_3_lower_limit="${-pi}" wrist_3_upper_limit="${pi}"
transmission_hw_interface="$(arg transmission_hw_interface)"
/>

<link name="world" />
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6 changes: 5 additions & 1 deletion ur_e_description/urdf/ur10e_robot.urdf.xacro
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Expand Up @@ -2,14 +2,18 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro"
name="ur10e" >

<xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>

<!-- common stuff -->
<xacro:include filename="$(find ur_e_description)/urdf/common.gazebo.xacro" />

<!-- ur10e -->
<xacro:include filename="$(find ur_e_description)/urdf/ur10e.urdf.xacro" />

<!-- arm -->
<xacro:ur10e_robot prefix="" joint_limited="false"/>
<xacro:ur10e_robot prefix="" joint_limited="false"
transmission_hw_interface="$(arg transmission_hw_interface)"
/>

<link name="world" />

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2 changes: 1 addition & 1 deletion ur_e_description/urdf/ur3e.urdf.xacro
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Expand Up @@ -338,7 +338,7 @@
</collision>
</link>

<xacro:ur_arm_transmission prefix="${prefix}" />
<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />
<xacro:ur_arm_gazebo prefix="${prefix}" />

<!-- ROS base_link to UR 'Base' Coordinates transform -->
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3 changes: 3 additions & 0 deletions ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro
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Expand Up @@ -2,6 +2,8 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro"
name="ur3e" >

<xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>

<!-- common stuff -->
<xacro:include filename="$(find ur_e_description)/urdf/common.gazebo.xacro" />

Expand All @@ -16,6 +18,7 @@
wrist_1_lower_limit="${-pi}" wrist_1_upper_limit="${pi}"
wrist_2_lower_limit="${-pi}" wrist_2_upper_limit="${pi}"
wrist_3_lower_limit="${-pi}" wrist_3_upper_limit="${pi}"
transmission_hw_interface="$(arg transmission_hw_interface)"
/>

<link name="world" />
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6 changes: 5 additions & 1 deletion ur_e_description/urdf/ur3e_robot.urdf.xacro
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Expand Up @@ -2,14 +2,18 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro"
name="ur3e" >

<xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>

<!-- common stuff -->
<xacro:include filename="$(find ur_e_description)/urdf/common.gazebo.xacro" />

<!-- ur3e -->
<xacro:include filename="$(find ur_e_description)/urdf/ur3e.urdf.xacro" />

<!-- arm -->
<xacro:ur3e_robot prefix="" joint_limited="false"/>
<xacro:ur3e_robot prefix="" joint_limited="false"
transmission_hw_interface="$(arg transmission_hw_interface)"
/>

<link name="world" />

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2 changes: 1 addition & 1 deletion ur_e_description/urdf/ur5e.urdf.xacro
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Expand Up @@ -355,7 +355,7 @@
</collision>
</link>

<xacro:ur_arm_transmission prefix="${prefix}" />
<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />
<xacro:ur_arm_gazebo prefix="${prefix}" />

<!-- ROS base_link to UR 'Base' Coordinates transform -->
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3 changes: 3 additions & 0 deletions ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro
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Expand Up @@ -2,6 +2,8 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro"
name="ur5e" >

<xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>

<!-- common stuff -->
<xacro:include filename="$(find ur_e_description)/urdf/common.gazebo.xacro" />

Expand All @@ -16,6 +18,7 @@
wrist_1_lower_limit="${-pi}" wrist_1_upper_limit="${pi}"
wrist_2_lower_limit="${-pi}" wrist_2_upper_limit="${pi}"
wrist_3_lower_limit="${-pi}" wrist_3_upper_limit="${pi}"
transmission_hw_interface="$(arg transmission_hw_interface)"
/>

<link name="world" />
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6 changes: 5 additions & 1 deletion ur_e_description/urdf/ur5e_robot.urdf.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro"
name="ur5e" >

<xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>

<!-- common stuff -->
<xacro:include filename="$(find ur_e_description)/urdf/common.gazebo.xacro" />

<!-- ur5e -->
<xacro:include filename="$(find ur_e_description)/urdf/ur5e.urdf.xacro" />

<!-- arm -->
<xacro:ur5e_robot prefix="" joint_limited="false"/>
<xacro:ur5e_robot prefix="" joint_limited="false"
transmission_hw_interface="$(arg transmission_hw_interface)"
/>

<link name="world" />

Expand Down